CN212149084U

CN212149084U - Negative pressure adsorption type wall-climbing robot

Info

Publication number: CN212149084U
Application number: CN202020430598.9U
Authority: CN
Inventors: 郭怀春; 吉爱红; 贾纯莉
Original assignee: Chuzhou Bei'an Intelligent Robot Technology Co ltd
Current assignee: Chuzhou Bei'an Intelligent Robot Technology Co ltd
Priority date: 2020-03-30
Filing date: 2020-03-30
Publication date: 2020-12-15
Anticipated expiration: 2030-03-30

Abstract

The utility model discloses a negative pressure adsorption type wall climbing robot, which comprises a main body, wherein the main body is internally provided with a CPU (central processing unit) for sending a command to control the whole device, the periphery of the main body is provided with a first adsorption mechanism, a second adsorption mechanism, a third adsorption mechanism and a fourth adsorption mechanism which are used for adsorbing the wall and simultaneously playing the action function of climbing the wall, the first adsorption mechanism comprises a fixed block fixedly connected with the main body, one end of the fixed block, which is far away from the main body, is provided with a telescopic component which can be freely stretched and can rotate for a certain angle around the fixed block so as to lead the robot, the utility model can walk while keeping adsorption by carrying out adsorption switching on the wall through four adsorption mechanisms, thereby realizing the wall climbing effect at the moving position of the wall, even if one of the four adsorption mechanisms can not finish adsorption when an accident occurs, the whole device can not fall down, and the device has higher practicability, so that the high-altitude cleaning or the detective work is more efficient.

Description

Negative pressure adsorption type wall-climbing robot

Technical Field

The utility model relates to a wall climbing robot specifically is a negative pressure adsorbs formula wall climbing robot.

Background

A wall climbing robot is an automated robot that can climb and complete work on a vertical wall. The wall climbing robot is also called a wall moving robot, and is also called a limit operation robot abroad because the vertical wall operation exceeds the limit of people. The wall-climbing robot has two basic functions of adsorption and movement, and the common adsorption modes include negative pressure adsorption and permanent magnet adsorption. The wall-climbing robot is mainly used for petrochemical enterprises to carry out flaw detection or paint spraying treatment on the cylindrical large tank or carry out cleaning and spraying on buildings. The device is used for thickness measurement in nuclear industry, and can also be used in fire fighting, shipbuilding and other industries.

The existing wall climbing robot does not well adsorb different wall conditions, and is difficult to walk by integrally keeping adsorption while driving, so that high-altitude operation cannot be well carried out, the practicability is poor, and the possibility that the adsorption is unsuccessful and then falls off due to the fact that only one sucker is generally used for adsorption operation is increased.

Therefore, a negative pressure suction type wall-climbing robot is needed to solve the above problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a negative pressure adsorbs formula wall climbing robot to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a negative pressure adsorbs formula wall climbing robot, includes the main part, thereby the inside of main part is equipped with the CPU who is used for sending the order and controls whole device, install around the main part and be used for adsorbing the wall and play first adsorption equipment, second adsorption equipment, third adsorption equipment and the fourth adsorption equipment of the action function of climbing the wall simultaneously, first adsorption equipment includes the fixed block with main part fixed connection, the one end that the main part was kept away from to the fixed block is equipped with the flexible subassembly that can freely stretch out and draw back and can wind the rotatory certain angle of fixed block, the other end of flexible subassembly is connected with the connecting block, the connecting block is connected with the adsorption component who plays adsorption effect to the wall.

As a further aspect of the present invention: the telescopic assembly comprises a first piston rod in the first telescopic cylinder assembly and a spring sleeve arranged outside the first piston rod and used for wrapping.

As a further aspect of the present invention: the adsorption component comprises a suction rod connected with a connecting block, the bottom of the suction rod is connected with a sucker, and a vent convenient for air circulation is formed in the joint of the sucker and the suction rod.

As a further aspect of the present invention: the rotating electrical machines is installed at the top of main part, the output of rotating electrical machines is connected with the bull stick that can follow the rotating electrical machines and carry out the rotation, the one end that the rotating electrical machines was kept away from to the bull stick is connected with the connecting rod, the bottom of connecting rod is equipped with the brush cleaner that can clean the wall of process.

As a further aspect of the present invention: the bottom of main part is equipped with flexible cylinder subassembly, the flexible cylinder subassembly of second is including the piston that is located the main part bottom, the inside of piston is equipped with can carry out flexible second piston rod in the piston, the one end that the piston was kept away from to the second piston rod is equipped with the cleaning cloth that conveniently cleans the wall.

As a further aspect of the present invention: the first adsorption mechanism, the second adsorption mechanism, the third adsorption mechanism and the fourth adsorption mechanism are uniformly arranged on the side wall of the main body at equal intervals through the fixing blocks.

Compared with the prior art, the beneficial effects of the utility model are that: adsorb the switching through four adsorption apparatus to the wall and make and can walk when keeping adsorbing, and then realize climbing the wall effect at wall shift position, even one of them unexpected condition can not accomplish adsorb, also can not make whole device fall, have more the practicality, consequently this robot can effectually carry out high altitude cleanness or spy work.

Drawings

Fig. 1 is a schematic view of an overall structure of a negative pressure adsorption type wall-climbing robot.

Fig. 2 is a schematic structural diagram of embodiment 2 of a negative pressure adsorption type wall-climbing robot.

Fig. 3 is a schematic structural diagram of embodiment 3 of a negative pressure adsorption type wall-climbing robot.

Wherein: the cleaning device comprises a main body 1, a first adsorption mechanism 2, a second adsorption mechanism 3, a third adsorption mechanism 4, a fourth adsorption mechanism 5, a telescopic assembly 6, a connecting block 7, an adsorption rod 8, a vent 9, a sucker 10, a rotating motor 11, a rotating rod 12, a connecting rod 13, a cleaning brush 14, a piston 15, a second piston rod 16 and cleaning cloth 17.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

Referring to fig. 1, in an embodiment of the present invention, a negative pressure adsorption type wall-climbing robot includes a main body 1, a CPU for issuing a command to control the entire apparatus is disposed inside the main body 1, and a first adsorption mechanism 2, a second adsorption mechanism 3, a third adsorption mechanism 4, and a fourth adsorption mechanism 5 for adsorbing a wall and simultaneously performing a wall-climbing action are uniformly installed around the main body 1 at equal intervals;

the first adsorption mechanism 2 comprises a fixed block fixedly connected with the main body 1, one end, far away from the main body 1, of the fixed block is provided with a telescopic assembly 6 which can freely stretch and rotate for a certain angle around the fixed block, a first telescopic air cylinder assembly is arranged inside the fixed block, a first piston rod of the first telescopic air cylinder assembly and a spring sleeve which is arranged outside the first piston rod and plays a role in wrapping form the telescopic assembly 6, a system instruction controls the first piston rod to stretch, the spring sleeve outside the first piston rod also stretches along with the first piston rod, so that the telescopic assembly 6 can stretch outwards or contract inwards, the other end of the telescopic assembly 6 is connected with a connecting block 7, and the connecting block 7 is connected with an adsorption assembly which plays a role in adsorbing a wall;

the adsorption component comprises an adsorption rod 8 connected with a connecting block 7, the bottom of the adsorption rod 8 is connected with a sucker 10, a vent hole 9 facilitating air circulation is formed in the joint of the sucker 10 and the adsorption rod 8, the vent hole 9 is connected with a vacuum generating device, when the vacuum generating device is started, the vent hole 9 is ventilated, air in the sucker 10 is pumped away, a vacuum state with the pressure of P2 is formed, at the moment, the air pressure in the sucker 10 is lower than the atmospheric pressure P1 outside the sucker 10, namely P2 is less than P1, the wall is adsorbed by an adsorption column under the action of external pressure, the higher the vacuum degree in the sucker 10 is, the tighter the sucker 10 is attached to the wall, after the adsorption component forms adsorption on the wall, the main body 1 moves under the action that the first adsorption mechanism 2, the second adsorption mechanism 3, the third adsorption mechanism 4 and the fourth adsorption mechanism 5 serve as walking support legs, first adsorption device 2, second adsorption device 3, third adsorption device 4 and fourth adsorption device 5 can be through the free stretch out and draw back of flexible subassembly 6 and can wind the certain angle of fixed block rotation and then make the climbing that the robot realized each angle direction, four adsorption device through one of them relieve the adsorption and make a round trip to switch, and then realize the effect of shift position, even one of them unexpected condition appears and can not accomplish the absorption, can not make whole device fall yet, have more the practicality, consequently this robot can effectually carry out high altitude cleanness or spy work.

Example 2

What is different from embodiment 1 is that, please refer to fig. 2, in order to implement the wall cleaning work, a rotating electrical machine 11 is installed at the top of the main body 1, an output end of the rotating electrical machine 11 is connected to a rotating rod 12 capable of rotating along with the rotating electrical machine 11, one end of the rotating rod 12, which is far away from the rotating electrical machine 11, is connected to a connecting rod 13, a cleaning brush 14 capable of cleaning the passing wall is arranged at the bottom end of the connecting rod 13, the rotating electrical machine 11 is started to drive the connecting rod 13 to rotate, so that the cleaning brush 14 can perform 360-degree rotating cleaning on the wall, and meanwhile, under the action of the first adsorption mechanism 2, the second adsorption mechanism 3, the third adsorption mechanism 4 and the fourth adsorption mechanism 5, the robot can move back and forth, so that the high-altitude cleaning work can be performed more efficiently and simply.

Example 3

What is different from the embodiment 2 is that, referring to fig. 3, in order to clean the wall more conveniently and to cope with uneven or structurally specific walls, a telescopic cylinder assembly is disposed at the bottom of the main body 1, the telescopic cylinder assembly includes a piston 15 located at the bottom of the main body 1, a piston rod 16 capable of extending and retracting in the piston 15 is disposed inside the piston 15, a cleaning cloth 17 convenient for cleaning the wall is disposed at one end of the piston rod 16 away from the piston 15, and under the action of the first adsorption mechanism 2, the second adsorption mechanism 3, the third adsorption mechanism 4 and the fourth adsorption mechanism 5, the main body 1 moves, and the telescopic cylinder assembly starts to work at the same time to drive the cleaning cloth 17 to rise or fall so as to cope with different states of the wall to complete cleaning.

The utility model discloses a theory of operation is: the first adsorption mechanism 2, the second adsorption mechanism 3, the third adsorption mechanism 4 and the fourth adsorption mechanism 5 enable the robot to realize climbing in all angle directions through free expansion of the telescopic assembly 6 or rotation of a certain angle around a fixed block under the condition that the adsorption assembly adsorbs a wall, after a walking climbing instruction of a CPU is obtained, air is slowly injected into the suction cup 10 to reduce the vacuum degree, so that the adsorption effect of the suction cup 10 on the wall is reduced, meanwhile, a system instruction controls a first piston rod of a first telescopic air cylinder assembly in the fixed block to expand and contract, a spring sleeve outside the first piston rod also expands and contracts along with the expansion, so that the telescopic assembly 6 extends outwards or contracts inwards, the adsorption effect of the suction cup 10 on the wall is very small or even has no adsorption force, and the suction cup 10 can be driven to move while the telescopic assembly 6 expands and contracts, after moving for a certain distance, the vacuum degree in the sucker 10 is raised to further suck the wall to play a fixing effect, so that the telescopic cylinder component in the fixing block can be controlled to move along the telescopic direction of the piston rod, the main body 1 moves along with the movement, the vacuum condition in the sucker 10 is switched along with the requirement of whether the position needs to be moved, the sucking effect on the wall is changed, the sucking force is increased or decreased, the first sucking mechanism 2 can move and drive the position of the main body 1 to change, and after the first sucking mechanism 2, the second sucking mechanism 3, the third sucking mechanism 4 and the fourth sucking mechanism 5 move and change successively, the wall climbing effect of the robot is realized, even if one of the four sucking mechanisms fails to finish the sucking under the unexpected condition, the other three sucking mechanisms can also ensure that the wall has enough sucking force, and guaranteed that main part 1 can not incline, also can not make whole device drop, had more the practicality, consequently this robot can effectually carry out high altitude cleaning or spy work.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A negative pressure adsorption type wall-climbing robot comprises a main body (1) and is characterized in that, the main body (1) is internally provided with a CPU which is used for sending commands so as to control the whole device, a first adsorption mechanism (2), a second adsorption mechanism (3), a third adsorption mechanism (4) and a fourth adsorption mechanism (5) which are used for adsorbing the wall and have the action of climbing the wall are arranged on the periphery of the main body (1), the first adsorption mechanism (2) comprises a fixed block fixedly connected with the main body (1), a first telescopic cylinder component is arranged in the fixed block, a telescopic component (6) which can freely extend and retract and can rotate around the fixed block for a certain angle is arranged at one end of the fixed block, which is far away from the main body (1), the other end of the telescopic assembly (6) is connected with a connecting block (7), and the connecting block (7) is connected with an adsorption assembly which has an adsorption effect on a wall.

2. The negative pressure adsorption type wall-climbing robot according to claim 1, wherein the telescopic assembly (6) comprises a first piston rod in the first telescopic cylinder assembly and a spring sleeve arranged outside the first piston rod for wrapping.

3. The negative-pressure adsorption type wall-climbing robot according to claim 1, wherein the adsorption component comprises an adsorption rod (8) connected with a connecting block (7), the bottom of the adsorption rod (8) is connected with a suction cup (10), and a vent (9) facilitating air circulation is formed at the joint of the suction cup (10) and the adsorption rod (8).

4. The negative-pressure adsorption type wall-climbing robot according to claim 1, wherein a rotating motor (11) is mounted at the top of the main body (1), an output end of the rotating motor (11) is connected with a rotating rod (12) capable of rotating along with the rotating motor (11), one end of the rotating rod (12) far away from the rotating motor (11) is connected with a connecting rod (13), and a cleaning brush (14) capable of cleaning a passing wall is arranged at the bottom end of the connecting rod (13).

5. The negative-pressure adsorption type wall-climbing robot is characterized in that a second telescopic cylinder assembly is arranged at the bottom of the main body (1), the second telescopic cylinder assembly comprises a piston (15) positioned at the bottom of the main body (1), a second piston rod (16) capable of telescoping in the piston (15) is arranged inside the piston (15), and a cleaning cloth (17) convenient for wiping and cleaning the wall is arranged at one end, away from the piston (15), of the second piston rod (16).

6. The negative-pressure adsorption type wall-climbing robot is characterized in that the first adsorption mechanism (2), the second adsorption mechanism (3), the third adsorption mechanism (4) and the fourth adsorption mechanism (5) are uniformly arranged on the side wall of the main body (1) through fixing blocks at equal intervals.